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<a href="#pub-types">Public Types</a> &#124;
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<div class="title">robot_interfaces::DisentanglementPlatform Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p>TODO: this whole class is outdated and should be adapted to have the same structure as the finger.  
 <a href="classrobot__interfaces_1_1DisentanglementPlatform.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="disentanglement__platform_8hpp_source.html">disentanglement_platform.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a45d6a17f003e6b564a18da8697f10278"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a45d6a17f003e6b564a18da8697f10278"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>JointIndexing</b> { <b>table</b>, 
<b>base</b>, 
<b>tip</b>, 
<b>joint_count</b>
 }</td></tr>
<tr class="separator:a45d6a17f003e6b564a18da8697f10278"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad104f4cf44e171ff4c0e9bb049eba797"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad104f4cf44e171ff4c0e9bb049eba797"></a>
typedef Eigen::Vector3d&#160;</td><td class="memItemRight" valign="bottom"><b>Vector</b></td></tr>
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Public Member Functions</h2></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>constrain_and_apply_torques</b> (const Vector &amp;desired_torques)</td></tr>
<tr class="separator:ad4918466c7496cbf09474f7a5a674dd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a3206b0f9389defb390c1ca15843a24"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6a3206b0f9389defb390c1ca15843a24"></a>
virtual Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_constrained_torques</b> () const </td></tr>
<tr class="separator:a6a3206b0f9389defb390c1ca15843a24"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a48700b33263b247c09f14270c5e57011"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48700b33263b247c09f14270c5e57011"></a>
virtual Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_measured_torques</b> () const =0</td></tr>
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virtual Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_measured_angles</b> () const =0</td></tr>
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<tr class="memitem:abf50860e3cb442b3ac2b1449bb43d2f4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abf50860e3cb442b3ac2b1449bb43d2f4"></a>
virtual Vector&#160;</td><td class="memItemRight" valign="bottom"><b>get_measured_velocities</b> () const =0</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>wait_for_execution</b> () const =0</td></tr>
<tr class="separator:addbe15782ff6565c7792339f45387303"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8a4245ddee0602615e2138bda4319e0b"><td class="memItemLeft" align="right" valign="top">Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a8a4245ddee0602615e2138bda4319e0b">get_max_torques</a> () const </td></tr>
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Protected Member Functions</h2></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>apply_torques</b> (const Vector &amp;desired_torques)=0</td></tr>
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<tr class="memitem:a1063bb5f024e759eaf8b4fca07a13866"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1063bb5f024e759eaf8b4fca07a13866"></a>
virtual Vector&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrobot__interfaces_1_1DisentanglementPlatform.html#a1063bb5f024e759eaf8b4fca07a13866">constrain_torques</a> (const Vector &amp;desired_torques)</td></tr>
<tr class="memdesc:a1063bb5f024e759eaf8b4fca07a13866"><td class="mdescLeft">&#160;</td><td class="mdescRight">do NOT touch this function unless you know what you are doing, it is essential for running the robot safely! <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>TODO: this whole class is outdated and should be adapted to have the same structure as the finger. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">Vector robot_interfaces::DisentanglementPlatform::get_max_torques </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
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<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000001">Todo:</a></b></dt><dd>: this can be implemented here </dd></dl>

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<hr/>The documentation for this class was generated from the following file:<ul>
<li>/workspace/software/workspace/src/catkin/robots/robot_interfaces/include/robot_interfaces/<a class="el" href="disentanglement__platform_8hpp_source.html">disentanglement_platform.hpp</a></li>
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